compressed_subscriber.cpp

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#include "compressed_imagem_transport/compressed_subscriber.h"
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/CvBridge.h>
#include <opencv/cvwimage.h>
#include <opencv/highgui.h>

namespace compressed_imagem_transport {

        void CompressedSubscriber::internalCallback(const sensor_msgs::CompressedImageConstPtr& message,
                        const message_transport::SimpleSubscriberPlugin<sensor_msgs::Image,sensor_msgs::CompressedImage>::Callback& user_cb)
        {
                // Decompress
                const CvMat compressed = cvMat(1, message->data.size(), CV_8UC1,
                                const_cast<unsigned char*>(&message->data[0]));
                cv::WImageBuffer_b decompressed( cvDecodeImage(&compressed, CV_LOAD_IMAGE_ANYCOLOR) );

                // Copy into ROS image message
                boost::shared_ptr<sensor_msgs::Image> image_ptr(new sensor_msgs::Image);
                if ( !sensor_msgs::CvBridge::fromIpltoRosImage(decompressed.Ipl(), *image_ptr) ) {
                        ROS_ERROR("Unable to create image message");
                        return;
                }
                image_ptr->header = message->header;
                // @todo: don't assume 8-bit channels
                if (decompressed.Channels() == 1) {
                        image_ptr->encoding = sensor_msgs::image_encodings::MONO8;
                }
                else if (decompressed.Channels() == 3) {
                        image_ptr->encoding = sensor_msgs::image_encodings::BGR8;
                }
                else {
                        ROS_ERROR("Unsupported number of channels: %i", decompressed.Channels());
                        return;
                }

                user_cb(image_ptr);
        }

} //namespace compressed_image_transport

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compressed_imagem_transport
Author(s): Cedric Pradalier
autogenerated on Fri Jan 11 09:54:00 2013